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基于EtherCAT的三次元高速多工位送料机械手控制系统设计与实现
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宁波市科技计划项目(2014D10008);宁波市自然科学基金资助项目(2014A610084)


Design and Implementation of Threedimensional High Feeding Manipulator forMultistage Transfer Control System Based on EtherCAT
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    摘要:

    针对现有的三次元送料机械手低速、低精度的特点,设计了基于实时以太网EtherCAT的三轴联动送料机械手。通过对其运动轨迹进行了分析,合理地规划了三次元送料机械手的运动轨迹曲线;通过优化其速度和加速度以及加加速度的特征,提高了三次元送料机械手在运动过程的动态特性;通过在控制系统采用电子凸轮技术,使伺服电机的运动能够实现所规划轨迹的点对点的精确定位。在通信方式上采用了实时以太网EtherCAT总线来实现多轴精确同步控制,采用环形双向冗余技术提高系统的稳定性和可靠性,并通过实验验证和测试分析。结果表明:该控制系统使送料机械手能够在所设计的工作空间内运行快速、平稳,达到所设计的35 次/min的抓取速率。

    Abstract:

    Aimed at the lowspeed and inaccuracy properties existed in traditional threedimensional (3D) feeding manipulator, a manipulator was developed of threeaxis simultaneousmotioned in real time based on EtherCAT. The trajectory curve was chosen rationally for the 3D feeding manipulator by deeply analyzed its motion trajectory. The dynamic properties were improved of the manipulator in motion by optimized its velocity, acceleration and jerk. The electronic cam technic was used in the control system to realize high accuracy point to point localization in the motion of trajectory planning of servomotor. Real time EtherCAT Ethernet was employed to keep the multiaxis synchronous control in communication mode. Doubledirection ring redundancy technic was used to improve reliability and stability, and the experiment was carried out on this manipulator for verification and test analysis. The results show that the control system of feeding manipulator achieves a high speed and stable states within its workspace, and in the meantime, the designed entire system is able to realize a gripping rate at 35 cycles per minute.

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陈健,史政,黄伟,郑天江,张驰.基于EtherCAT的三次元高速多工位送料机械手控制系统设计与实现[J].机床与液压,2016,44(5):127-130.
. Design and Implementation of Threedimensional High Feeding Manipulator forMultistage Transfer Control System Based on EtherCAT[J]. Machine Tool & Hydraulics,2016,44(5):127-130

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  • 在线发布日期: 2016-05-05
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